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Abstract Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control for continuum and soft manipulators. In this paper, we studied an explicit expression of a two-segment continuum manipulator based on constant curvature assumptions and discussed the existence of the IK solutions. Utilizing the pseudo-rigid-body method, we contrast this model with the traditional six-axis rigid industrial robot arm, revealing that two-segment extensible continuum manipulators exhibit limited rotation angles around the directional vector of their tips, thereby showcasing reduced dexterity. By pre-constraining five degrees-of-freedom (DOF) and addressing the definition of the remaining DOF, we streamline the IK-solving process, resulting in minimal computational overhead suitable for a wide range of applications. This model promises a robust and real-time approach for controlling two-segment extensible continuum manipulators, enhancing their operational efficiency and effectiveness.
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Zhiguang Xing
Guoguo Yang
Pengyuan Wang
Journal of Mechanisms and Robotics
Peking University
Harbin Institute of Technology
Weihai Science and Technology Bureau
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Xing et al. (Wed,) studied this question.
www.synapsesocial.com/papers/68e5e4ecb6db6435875798c3 — DOI: https://doi.org/10.1115/1.4066098
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